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<div class="title">image_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef __PCL_IO_IMAGE_GRABBER__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define __PCL_IO_IMAGE_GRABBER__</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &quot;pcl/pcl_config.h&quot;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/io/file_grabber.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/common/time_trigger.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html">   58</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#acb25eefd11e21230e09ad0489e36cce0">   67</a></span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html#acb25eefd11e21230e09ad0489e36cce0">ImageGrabberBase</a> (<span class="keyword">const</span> std::string&amp; directory, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat, <span class="keywordtype">bool</span> pclzf_mode);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> (<span class="keyword">const</span> std::string&amp; depth_directory, <span class="keyword">const</span> std::string&amp; rgb_directory, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat);</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a85b43a85a322976d3a5512ee5712da34">   75</a></span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html#a85b43a85a322976d3a5512ee5712da34">ImageGrabberBase</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; depth_image_files, <span class="keywordtype">float</span> frames_per_second, <span class="keywordtype">bool</span> repeat);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a214dabef9197dcb3dbb9d0ca0a458463">   80</a></span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html#a214dabef9197dcb3dbb9d0ca0a458463">ImageGrabberBase</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> &amp;src) : <a class="code" href="classpcl_1_1_grabber.html">Grabber</a> (), impl_ ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a>&amp;</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a3d608ab2247f1ce9d78df3f05ba89133">   89</a></span>&#160;    operator = (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> &amp;src)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      impl_ = src.impl_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#ae6f2e355739e03eaabad2656f18ac725">   96</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_image_grabber_base.html#ae6f2e355739e03eaabad2656f18ac725">~ImageGrabberBase</a> () throw ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a7c227702c05fdd18b6ee527f3e1b1d71">  100</a></span>&#160;    start ();</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a75ad637ea48e1c1d033428f693c78cd5">  104</a></span>&#160;    stop ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#aa6195667ff230232ea58fdd3ab722077">  108</a></span>&#160;    trigger ();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a4b186edc19a73af202a1aec7fabccecd">  114</a></span>&#160;    isRunning () const;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    virtual std::<span class="keywordtype">string</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#ad712c9794c17cf42c18c0c96a6c88c98">  118</a></span>&#160;    getName () const;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a72e5e0e79134ba1986a018bf79a0a9c2">  122</a></span>&#160;    rewind ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    virtual <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a94d28e8cae927e171d0c4e49a0e894e9">  126</a></span>&#160;    getFramesPerSecond () const;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a9f325f6e291f89794d0183478e1abee1">  130</a></span>&#160;    isRepeatOn () const;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a09f94833bdb4dcbdb1633e4fc2d3e04b">  134</a></span>&#160;    atLastFrame () const;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a87ad6bcd55faf0a7c0de7d2dab3168fe">  138</a></span>&#160;    getCurrentDepthFileName () const;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#aa4d0030237e295c51954f88219528510">  143</a></span>&#160;    getPrevDepthFileName () const;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#ad21fd9f2284e6d98bca24a6ca18aacad">  147</a></span>&#160;    getDepthFileNameAtIndex (<span class="keywordtype">size_t</span> idx) const;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a025c718e7168e87bf4125155fe0eece7">  151</a></span>&#160;    getTimestampAtIndex (<span class="keywordtype">size_t</span> idx, pcl::uint64_t &amp;timestamp) const;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#af07aa4cb2417064f6251fab77081194e">  157</a></span>&#160;    setRGBImageFiles (const std::vector&lt;std::<span class="keywordtype">string</span>&gt;&amp; rgb_image_files);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a1c64efa9741f2c158a1f3a494a2a833a">  166</a></span>&#160;    setCameraIntrinsics (const <span class="keywordtype">double</span> focal_length_x, </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                         const <span class="keywordtype">double</span> focal_length_y, </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                         const <span class="keywordtype">double</span> principal_point_x, </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                         const <span class="keywordtype">double</span> principal_point_y);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a768a10439efb2ad98300209afbabc5fa">  178</a></span>&#160;    getCameraIntrinsics (<span class="keywordtype">double</span> &amp;focal_length_x, </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                         <span class="keywordtype">double</span> &amp;focal_length_y, </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                         <span class="keywordtype">double</span> &amp;principal_point_x, </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                         <span class="keywordtype">double</span> &amp;principal_point_y) const;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a32ae91b66b415213ec3b7c29d7e61e49">  186</a></span>&#160;    setDepthImageUnits (<span class="keywordtype">float</span> units);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a407a44537584315830041211b1acd72e">  191</a></span>&#160;    setNumberOfThreads (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    protected:</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#a424347bebaa99168a01b7caea5403fae">  197</a></span>&#160;    numFrames () const;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber_base.html#ae4baf7fe44013726b614e60199387176">  201</a></span>&#160;    getCloudAt (<span class="keywordtype">size_t</span> idx, pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> &amp;blob, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation) const;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    private:</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    publish (const pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&amp; blob, const Eigen::Vector4f&amp; origin, const Eigen::Quaternionf&amp; orientation) const = 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="comment">// to separate and hide the implementation from interface: PIMPL</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    struct ImageGrabberImpl;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    ImageGrabberImpl* impl_;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  };</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  template &lt;typename T&gt; class <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber.html">  216</a></span>&#160;  template &lt;typename <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; class <a class="code" href="classpcl_1_1_image_grabber.html">ImageGrabber</a> : public <a class="code" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a>, public <a class="code" href="classpcl_1_1_file_grabber.html">FileGrabber</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber.html">ImageGrabber</a> (<span class="keyword">const</span> std::string&amp; dir, </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                  <span class="keywordtype">float</span> frames_per_second = 0, </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                  <span class="keywordtype">bool</span> repeat = <span class="keyword">false</span>, </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                  <span class="keywordtype">bool</span> pclzf_mode = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber.html">ImageGrabber</a> (<span class="keyword">const</span> std::string&amp; depth_dir, </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                  <span class="keyword">const</span> std::string&amp; rgb_dir, </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                  <span class="keywordtype">float</span> frames_per_second = 0, </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                  <span class="keywordtype">bool</span> repeat = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber.html">ImageGrabber</a> (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; depth_image_files, </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                  <span class="keywordtype">float</span> frames_per_second = 0, </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                  <span class="keywordtype">bool</span> repeat = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber.html#a3d1e3fab2adf08e7dd87a092308d1cd2">  234</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_image_grabber.html#a3d1e3fab2adf08e7dd87a092308d1cd2">~ImageGrabber</a> () throw () {}</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// Inherited from FileGrabber</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keyword">const</span> boost::shared_ptr&lt; const pcl::PointCloud&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    operator[] (<span class="keywordtype">size_t</span> idx) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="comment">// Inherited from FileGrabber</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    size () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    publish (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; blob,</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;             <span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;             <span class="keyword">const</span> Eigen::Quaternionf&amp; orientation) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    boost::signals2::signal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;* signal_;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  };</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  ImageGrabber&lt;PointT&gt;::ImageGrabber (<span class="keyword">const</span> std::string&amp; dir, </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                                      <span class="keywordtype">float</span> frames_per_second, </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                                      <span class="keywordtype">bool</span> repeat, </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                                      <span class="keywordtype">bool</span> pclzf_mode)</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    : ImageGrabberBase (dir, frames_per_second, repeat, pclzf_mode)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    signal_ = createSignal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  ImageGrabber&lt;PointT&gt;::ImageGrabber (<span class="keyword">const</span> std::string&amp; depth_dir, </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                                      <span class="keyword">const</span> std::string&amp; rgb_dir, </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                      <span class="keywordtype">float</span> frames_per_second, </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                                      <span class="keywordtype">bool</span> repeat)</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    : ImageGrabberBase (depth_dir, rgb_dir, frames_per_second, repeat)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    signal_ = createSignal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  ImageGrabber&lt;PointT&gt;::ImageGrabber (<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; depth_image_files, </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                                      <span class="keywordtype">float</span> frames_per_second, </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                      <span class="keywordtype">bool</span> repeat)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    : ImageGrabberBase (depth_image_files, frames_per_second, repeat), signal_ ()</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    signal_ = createSignal&lt;void (<span class="keyword">const</span> boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &gt;&amp;)&gt;();</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">const</span> boost::shared_ptr&lt; const pcl::PointCloud&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber.html#a7528e2376a448989349de681cd13fc46">  286</a></span>&#160;  <a class="code" href="classpcl_1_1_image_grabber.html#a7528e2376a448989349de681cd13fc46">ImageGrabber&lt;PointT&gt;::operator[] </a>(<span class="keywordtype">size_t</span> idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    Eigen::Vector4f origin;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    Eigen::Quaternionf orientation;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    getCloudAt (idx, blob, origin, orientation);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    pcl::fromPCLPointCloud2 (blob, *cloud);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = origin;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = orientation;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">return</span> (cloud);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1_image_grabber.html#ad5ab7211de5fc1cdd6ae9bb78a21986c">  301</a></span>&#160;  <a class="code" href="classpcl_1_1_image_grabber.html#ad5ab7211de5fc1cdd6ae9bb78a21986c">ImageGrabber&lt;PointT&gt;::size</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">return</span> (numFrames ());</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  }</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <a class="code" href="classpcl_1_1_image_grabber.html">ImageGrabber&lt;PointT&gt;::publish</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; blob, <span class="keyword">const</span> Eigen::Vector4f&amp; origin, <span class="keyword">const</span> Eigen::Quaternionf&amp; orientation)<span class="keyword"> const</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    pcl::fromPCLPointCloud2 (blob, *cloud);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    cloud-&gt;sensor_origin_ = origin;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    cloud-&gt;sensor_orientation_ = orientation;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    signal_-&gt;operator () (cloud);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_file_grabber_html"><div class="ttname"><a href="classpcl_1_1_file_grabber.html">pcl::FileGrabber</a></div><div class="ttdoc">FileGrabber provides a container-style interface for grabbers which operate on fixed-size input</div><div class="ttdef"><b>Definition:</b> file_grabber.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html">pcl::ImageGrabberBase</a></div><div class="ttdoc">Base class for Image file grabber.</div><div class="ttdef"><b>Definition:</b> image_grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html_a214dabef9197dcb3dbb9d0ca0a458463"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html#a214dabef9197dcb3dbb9d0ca0a458463">pcl::ImageGrabberBase::ImageGrabberBase</a></div><div class="ttdeci">ImageGrabberBase(const ImageGrabberBase &amp;src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> image_grabber.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html_a85b43a85a322976d3a5512ee5712da34"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html#a85b43a85a322976d3a5512ee5712da34">pcl::ImageGrabberBase::ImageGrabberBase</a></div><div class="ttdeci">ImageGrabberBase(const std::vector&lt; std::string &gt; &amp;depth_image_files, float frames_per_second, bool repeat)</div><div class="ttdoc">Constructor taking a list of paths to PCD files, that are played in the order they appear in the list...</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html_acb25eefd11e21230e09ad0489e36cce0"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html#acb25eefd11e21230e09ad0489e36cce0">pcl::ImageGrabberBase::ImageGrabberBase</a></div><div class="ttdeci">ImageGrabberBase(const std::string &amp;directory, float frames_per_second, bool repeat, bool pclzf_mode)</div><div class="ttdoc">Constructor taking a folder of depth+[rgb] images.</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html_ae6f2e355739e03eaabad2656f18ac725"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html#ae6f2e355739e03eaabad2656f18ac725">pcl::ImageGrabberBase::~ImageGrabberBase</a></div><div class="ttdeci">virtual ~ImageGrabberBase()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_html"><div class="ttname"><a href="classpcl_1_1_image_grabber.html">pcl::ImageGrabber</a></div><div class="ttdef"><b>Definition:</b> image_grabber.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_html_a3d1e3fab2adf08e7dd87a092308d1cd2"><div class="ttname"><a href="classpcl_1_1_image_grabber.html#a3d1e3fab2adf08e7dd87a092308d1cd2">pcl::ImageGrabber::~ImageGrabber</a></div><div class="ttdeci">virtual ~ImageGrabber()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> image_grabber.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_html_a7528e2376a448989349de681cd13fc46"><div class="ttname"><a href="classpcl_1_1_image_grabber.html#a7528e2376a448989349de681cd13fc46">pcl::ImageGrabber::operator[]</a></div><div class="ttdeci">const boost::shared_ptr&lt; const pcl::PointCloud&lt; PointT &gt; &gt; operator[](size_t idx) const</div><div class="ttdoc">operator[] Returns the idx-th cloud in the dataset, without bounds checking. Note that in the future,...</div><div class="ttdef"><b>Definition:</b> image_grabber.h:286</div></div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_html_ad5ab7211de5fc1cdd6ae9bb78a21986c"><div class="ttname"><a href="classpcl_1_1_image_grabber.html#ad5ab7211de5fc1cdd6ae9bb78a21986c">pcl::ImageGrabber::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">size Returns the number of clouds currently loaded by the grabber</div><div class="ttdef"><b>Definition:</b> image_grabber.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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